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09/05/2021
Square Root Marginalization for Sliding-Window Bundle Adjustment
In this paper we propose a novel square root sliding-window bundle adjus...
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03/02/2021
Square Root Bundle Adjustment for Large-Scale Reconstruction
We propose a new formulation for the bundle adjustment problem which rel...
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11/20/2019
Efficient Derivative Computation for Cumulative B-Splines on Lie Groups
Continuous-time trajectory representation has recently gained popularity...
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11/04/2019
Rolling-Shutter Modelling for Direct Visual-Inertial Odometry
We present a direct visual-inertial odometry (VIO) method which estimate...
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04/13/2019
Visual-Inertial Mapping with Non-Linear Factor Recovery
Cameras and inertial measurement units are complementary sensors for ego...
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08/08/2018
Omnidirectional DSO: Direct Sparse Odometry with Fisheye Cameras
We propose a novel real-time direct monocular visual odometry for omnidi...
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08/01/2018
Direct Sparse Odometry with Rolling Shutter
Neglecting the effects of rolling-shutter cameras for visual odometry (V...
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07/24/2018
The Double Sphere Camera Model
Vision-based motion estimation and 3D reconstruction, which have numerou...
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04/17/2018
The TUM VI Benchmark for Evaluating Visual-Inertial Odometry
Visual odometry and SLAM methods have a large variety of applications in...
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04/16/2018
Direct Sparse Visual-Inertial Odometry using Dynamic Marginalization
We present VI-DSO, a novel approach for visual-inertial odometry, which ...
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09/26/2016
From Monocular SLAM to Autonomous Drone Exploration
Micro aerial vehicles (MAVs) are strongly limited in their payload and p...
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07/09/2016